CN112606919A - Six-foot crawler type parallel hydraulic building curtain plate installation robot - Google Patents
Six-foot crawler type parallel hydraulic building curtain plate installation robot Download PDFInfo
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- CN112606919A CN112606919A CN202011489345.XA CN202011489345A CN112606919A CN 112606919 A CN112606919 A CN 112606919A CN 202011489345 A CN202011489345 A CN 202011489345A CN 112606919 A CN112606919 A CN 112606919A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
Abstract
A six-foot crawler type parallel hydraulic building curtain plate installation robot belongs to the technical field of robot structures and comprises a crawler type mobile platform, a mechanical six-foot component, a leg installation rack, a mechanical big arm component, a hydraulic small arm component, a curtain plate terminal execution mechanism and curtain plates, wherein the mechanical six-foot component is installed on the leg installation rack; the curtain plate terminal executing mechanism carries out the grabbing action of the curtain plate through the air pressure sucker, so that the curtain plate is stable and effective, the installation cost is reduced, and the installation efficiency is improved; can realize the remote control of robot, utilize 5G data transmission technique, realize building curtain board installation job site's control and motion control for the installation is more intelligent high-efficient.
Description
Technical Field
The invention relates to a six-foot crawler type parallel hydraulic building curtain plate installation robot, and belongs to the technical field of robot structures.
Background
With the continuous progress of the robot technology, the robot can be applied to the fields of processing and manufacturing, living service, aerospace, medical and medical industry and the like. Along with the arrival of the aging phenomenon of population, the number of people who enter the building industry for high physical strength and high risk is less and less, so that the phenomena of difficult recruitment and high cost of the building industry occur, and in recent years, along with the gradual rise of building robots, the problem of the existing recruitment of the building industry is solved.
The existing construction robot structure is characterized in that the structure of the existing construction robot is improved by carrying out structural transformation on an industrial robot, corresponding work is carried out by changing a robot terminal structure component, a body is moved for the construction robot, a combined type structure for moving the body is adopted for a plurality of times, destination activity is carried out on the construction robot, for example, a curtain wall robot adopting a forklift to match the construction robot is utilized, a truck combined construction robot is utilized, and a crane is utilized to match the construction robot, and the like. The combined type building robot moving body is only suitable for building work outdoors due to large volume, heavy weight and low load-weight ratio of the robot body, and has limited indoor activity space or even no work; the problem of inconvenient movement also occurs in a complex working environment with an uneven ground when climbing a slope, and construction danger is also caused when the combined type construction robot is used for working, so that on-site operators are in danger; if the load capacity and the supporting force during work need to be increased, the weight and the attachment area of the moving body of the robot need to be increased, the cost is increased, the load self-weight ratio is reduced, and the movement is inconvenient.
The robot arm is a main structural member of industrial and construction robots, and is a terminal member that bears the performance of actions and the support of load force. The main factors restricting the development of the robot are that the mechanical arm is single in structure, an integrated structure manufacturing mode is adopted, and the whole rigid body is processed, so that the defects of heavy weight, high cost, poor flexibility, poor positioning precision, high load-weight ratio and high change cost of the execution terminal are caused.
For the existing rising assembly type buildings, the building of the buildings is mostly realized in a combined assembly type mode, and the construction time and cost are reduced by combining and assembling the processed building walls in a centralized manner. However, the existing installation method of hoisting the curtain wall by adopting a manual crane is complex in installation process, large in labor amount and high in danger, so that the building cost is increased, and the installation efficiency of the fabricated building is reduced.
In conclusion, a construction robot suitable for various complex ground working environments, high in load-weight ratio, accurate in mechanical arm positioning, convenient to move and suitable for indoor and outdoor curtain plate installation is lacking.
Disclosure of Invention
Aiming at the problems, the invention provides a six-foot crawler type parallel hydraulic building curtain plate installation robot.
The utility model provides a parallelly connected hydraulic pressure building curtain board installation robot of six sufficient crawler-type, by crawler-type moving platform, mechanical six sufficient subassemblies, the shank mounting bracket, the big arm subassembly of machinery, hydraulic pressure forearm subassembly, curtain board terminal actuating mechanism and curtain board are constituteed, mechanical six sufficient subassemblies mount is on the shank mounting bracket, the shank mounting bracket is installed on crawler-type moving platform, the big arm subassembly of machinery is installed on crawler-type moving platform, hydraulic pressure forearm subassembly is installed on the big arm subassembly of machinery, curtain board terminal actuating mechanism installs on hydraulic pressure forearm subassembly, the curtain board is adsorbed on curtain board terminal actuating mechanism.
Furthermore, the crawler-type mobile platform comprises mobile tracks, a platform bottom plate and platform support frames, wherein the two groups of mobile tracks are respectively arranged on two sides of the platform bottom plate, and the platform support frames are arranged on the platform bottom plate.
Further, mechanical six sufficient subassemblies, by a sufficient subassembly, No. two sufficient subassemblies, No. three sufficient subassemblies, No. four sufficient subassemblies, No. five sufficient subassemblies, No. six sufficient subassemblies, both ends shank hydraulic assembly and middle-end shank hydraulic assembly constitute, a sufficient subassembly and No. two sufficient subassemblies are installed at shank mounting bracket front end, No. three sufficient subassemblies and No. four sufficient subassemblies are installed in shank mounting bracket middle-end, No. five sufficient subassemblies and No. six sufficient subassemblies are installed at shank mounting bracket rear end.
Furthermore, the first foot assembly is composed of a supporting shank, a leg connecting plate, a shank hydraulic assembly, a thigh hydraulic assembly and a supporting thigh, wherein the supporting shank is installed on the leg connecting plate through the shank hydraulic assembly, the supporting thigh is connected with the leg connecting plate through the thigh hydraulic assembly, and the supporting thigh is installed on the leg installing frame.
Furthermore, both ends shank hydraulic assembly, by a fixed plate that slides, a pneumatic cylinder and a hydraulic stem are constituteed, a hydraulic stem installs on a pneumatic cylinder, a pneumatic cylinder is installed on a fixed plate that slides, a fixed plate that slides installs on the shank mounting bracket.
Further, middle-end shank hydraulic component, by middle-end shank hydraulic pressure installed part, No. two fixed plates that slide, No. two hydraulic pressure installed parts, No. two pneumatic cylinders and No. two hydraulic stems are constituteed, No. two hydraulic stems are installed on No. two pneumatic cylinders, No. two pneumatic cylinders are installed on No. two hydraulic pressure installed parts, No. two hydraulic pressure installed parts are installed on No. two fixed plates that slide, No. two fixed plates that slide are installed on middle-end shank hydraulic pressure installed part, middle-end shank hydraulic pressure installed part is installed on the shank mounting bracket.
Further, the big mechanical arm assembly comprises a rotary mechanical arm platform, a big arm connecting piece, a big arm outer sleeve, a big arm main support assembly and a small arm mounting piece, wherein the rotary mechanical arm platform is mounted on the crawler-type mobile platform, the rotary mechanical arm platform is mounted on the rotary mechanical arm platform, the big arm connecting piece is mounted on the rotary mechanical arm platform, the big arm outer sleeve is mounted on the big arm connecting piece, the big arm main support assembly is mounted in the big arm outer sleeve, and the small arm mounting piece is mounted on the big arm main support assembly.
Furthermore, the big arm main support assembly is composed of a big arm support guide rod, a big arm main support piece, linear guide rails and linear motors, wherein the big arm support guide rod is installed on a big arm outer sleeve, the big arm main support piece is installed on the big arm support guide rod, the four linear guide rails are distributed and installed on the big arm main support piece, and the four linear motors are installed on the four linear guide rails.
Furthermore, the hydraulic forearm component consists of a forearm main joint component, a forearm secondary joint component and a forearm tail joint component, wherein the forearm main joint component is installed on the forearm installation part, the forearm secondary joint component is installed on the forearm main joint component, and the forearm tail joint component is installed on the forearm secondary joint component.
Furthermore, forearm primary joint subassembly, by primary joint primary base, primary joint hydraulic assembly, the vice base of primary joint, joint connecting piece and primary joint universal joint constitute, primary joint primary base passes through the joint connecting piece and installs on the forearm installed part, 3 main joint hydraulic assembly of group install between primary joint primary base and the vice base of primary joint, the vice base of primary joint is installed between primary joint primary base and the vice base of primary joint to the primary joint universal joint.
Furthermore, forearm secondary joint subassembly, by secondary joint owner base, secondary joint hydraulic assembly, vice base of secondary joint and secondary joint universal joint constitute, secondary joint owner base passes through the joint connecting piece and installs on vice base of primary joint, secondary joint hydraulic assembly installs between vice base of secondary joint owner base and secondary joint, secondary joint universal joint installs between vice base of secondary joint owner base and vice base of secondary joint.
Further, forearm end joint subassembly, constitute by end joint owner base, end joint hydraulic assembly, the vice base of end joint, end joint universal joint, encoder and terminal installed part, end joint owner base passes through the joint connection spare and installs on the vice base of inferior joint, end joint hydraulic assembly installs between end joint owner base and the vice base of end joint, end joint universal joint installs between end joint owner base and the vice base of end joint, the encoder is installed on end joint universal joint, terminal installed part installs on the vice base of end joint.
Furthermore, the main joint hydraulic assembly consists of a hydraulic assembly connecting piece, a spherical connecting piece, a connecting pin, a hydraulic piece and a pull pressure sensor, wherein the spherical connecting piece is arranged on the hydraulic assembly connecting piece through the connecting pin, the hydraulic piece is arranged on the spherical connecting piece, and the pull pressure sensor is arranged between the spherical connecting piece and the hydraulic piece.
Furthermore, the main joint universal coupling is composed of a main universal joint, a universal shaft, a rolling bearing and an auxiliary universal joint, wherein the universal shaft is arranged on the main universal joint and the auxiliary universal joint through the rolling bearing.
Furthermore, the main joint main base, the secondary joint main base and the tail joint main base are the same structural part.
Furthermore, the main joint pair base, the secondary joint pair base and the tail joint pair base are the same structural part.
Furthermore, the main joint hydraulic assembly, the secondary joint hydraulic assembly and the final joint hydraulic assembly are the same structural part.
Furthermore, the main joint universal coupling, the secondary joint universal coupling and the final joint universal coupling are the same structural part.
Further, curtain board terminal actuating mechanism, constitute by atmospheric pressure power spare, sucking disc installed part and air pressure sucking disc, atmospheric pressure power spare is installed on the terminal installed part, the sucking disc installed part is installed on atmospheric pressure power spare, 4 atmospheric pressure sucking discs are installed on the sucking disc installed part.
Compared with other existing methods, the method has the advantages that:
1. the crawler-type mobile platform can drive the construction robot to move, and can move on various construction site road conditions;
2. the crawler-type mobile platform is used as the mobile platform of the construction robot, and the crawler-type mobile platform is light in weight compared with combined mobile platforms such as cranes, trucks, forklifts and the like, so that a higher load ratio can be achieved;
3. the crawler-type mobile platform is combined with the support body, so that the crawler-type mobile platform is suitable for being used as a mobile body of various building robots, flexible combination transformation can be performed on different building robot structures, and research and development cost is reduced;
4. the invention can reduce the labor intensity of processing personnel, eliminate the potential safety hazard caused by improper installation or unstable support of installation personnel and a crane in the installation working process of the curtain plate, reduce the number of construction personnel during construction and reduce the construction cost of the fabricated building;
5. according to the curtain plate mounting robot, 6 groups of six-legged mechanical leg assemblies are used for fixing and supporting, so that the supporting area required by the construction robot in the working process can be increased, the self weight is not required to be increased, the processing cost is reduced, the supporting force is increased, and the curtain plate mounting robot is safer and more stable in the working process.
6. The hydraulic assembly can be used for assembling the mechanical arm small arm, the structure is lighter, stepless speed regulation in the mechanical arm movement process can be realized, and the movement precision is higher;
7. the hydraulic parallel combined mechanical arm is combined and assembled in a hydraulic parallel mode, six degrees of freedom of the mechanical forearm are achieved, and compared with other existing mechanical arms, the hydraulic parallel combined mechanical arm is lighter in weight and has a higher load-weight ratio;
8. the mechanical arm is combined in a hydraulic transmission mode, and the universal coupling is used for combined assembly, so that the mechanical arm has higher flexibility compared with the traditional mechanical arm;
9. according to the curtain plate grabbing device, the curtain plate terminal executing mechanism carries out the curtain plate grabbing action through the air pressure sucker, so that the curtain plate is stable and effective, the installation cost is reduced, and the installation efficiency is improved.
10. The invention realizes the control of the action by utilizing the parallel hydraulic mechanical small arm assembly, the control of the installation process is more effective, and the positioning is more accurate.
11. The invention adopts the tension and pressure sensor to realize the real-time monitoring of the mechanical arm action, so that the working process is safer.
12. The invention can realize the remote control of the robot, and utilizes the 5G data transmission technology to realize the monitoring and action control of the construction site for installing the building curtain plate, so that the installation process is more intelligent and efficient.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic structural view of a crawler-type mobile platform of the present invention;
FIG. 3 is a schematic structural view of the mechanical hexapod assembly of the present invention;
FIG. 4 is a schematic structural view of a first foot assembly of the present invention;
FIG. 5 is a schematic diagram of the two end leg hydraulic assembly of the present invention;
FIG. 6 is a schematic diagram of the middle leg hydraulic assembly of the present invention;
FIG. 7 is a schematic structural view of a robotic boom assembly of the present invention;
FIG. 8 is a schematic structural view of the main boom support assembly of the present invention;
FIG. 9 is a schematic illustration of the forearm mount construction of the invention;
FIG. 10 is a schematic diagram of the hydraulic forearm assembly of the invention;
FIG. 11 is a schematic view of the forearm main joint assembly of the invention;
FIG. 12 is a schematic structural view of the main joint hydraulic assembly of the present invention;
FIG. 13 is a schematic structural view of the master joint universal coupling of the present invention;
FIG. 14 is a schematic view of the forearm sub-joint assembly of the invention;
FIG. 15 is a schematic view of the forearm distal joint assembly of the invention;
fig. 16 is a schematic view of the end effector of the curtain board of the present invention.
In the figure, 1, a crawler type moving platform, 101, a moving crawler, 102, a platform bottom plate, 103, a platform support frame, 2, a mechanical six-foot assembly, 201, a first foot assembly, 2011, a support calf, 2012, a leg connecting plate, 2013, a calf hydraulic assembly, 2014, a thigh hydraulic assembly, 2015, a support thigh, 202, a second foot assembly, 203, a third foot assembly, 204, a fourth foot assembly, 205, a fifth foot assembly, 206, a sixth foot assembly, 207, two-end leg hydraulic assemblies, 2071, a first sliding fixing plate, 2072, a first hydraulic cylinder, 2073, a first hydraulic rod, 208, a middle-end leg hydraulic assembly, 2081, a middle-end leg hydraulic mounting piece, 2082, a second sliding fixing plate, 2083, a second hydraulic mounting piece, 2084, a mechanical big arm assembly, 401, a rotary platform, 402, a mechanical arm swing platform, 403. big arm connector, 404 big arm outer sleeve, 405 big arm main support component, 4051 big arm support guide rod, 4052 big arm main support component, 4053 linear guide rail, 4054 linear motor, 406 small arm mounting component, 5 hydraulic small arm component, 501 small arm main joint component, 5011 main joint main base, 5012 main joint hydraulic component, 50121 hydraulic component connector, 50122 spherical connector, 50123 connecting pin, 50124 hydraulic component, 50125 pull pressure sensor, 5013 main joint auxiliary base, 5014 joint connector, 5015 main joint universal coupling, 50151 main joint universal coupling, 50152 universal shaft, 50153 rolling bearing, 50154 auxiliary universal joint, 502 small arm auxiliary joint component, 5021 auxiliary joint main base, 5022 auxiliary joint hydraulic component, 5023 auxiliary joint base, 5024 auxiliary joint coupling, 503 universal joint end arm joint component, 5031. the device comprises a main end joint base, a 5032 end joint hydraulic component, a 5033 end joint auxiliary base, a 5034 end joint universal coupling, a 5035 encoder, a 5036 terminal installation part, a 6 curtain plate terminal execution mechanism, 601 a pneumatic power part, 602 a suction cup installation part, 603 a pneumatic suction cup and 7 a curtain plate.
Detailed Description
Embodiments of the invention will be further described with reference to the accompanying drawings in which:
the invention is described in detail below with reference to the figures and the specific embodiments. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The utility model provides a parallelly connected hydraulic pressure building curtain board installation robot of six sufficient crawler-type, by crawler-type moving platform 1, mechanical six sufficient subassemblies 2, shank mounting bracket 3, big arm component 4 of machinery, hydraulic pressure forearm subassembly 5, curtain board terminal actuating mechanism 6 and curtain board 7 are constituteed, six sufficient subassemblies 2 of machinery are installed on shank mounting bracket 3, shank mounting bracket 3 is installed on crawler-type moving platform 1, big arm component 4 of machinery is installed on crawler-type moving platform 1, small arm component 5 of hydraulic pressure is installed on big arm component 4 of machinery, curtain board terminal actuating mechanism 6 is installed on little arm component 5 of hydraulic pressure, curtain board 7 is adsorbed on curtain board terminal actuating mechanism 6.
The crawler-type mobile platform 1 is composed of mobile crawlers 101, a platform bottom plate 102 and platform support frames 103, wherein the two groups of mobile crawlers 101 are respectively arranged on two sides of the platform bottom plate 102, and the platform support frames 103 are arranged on the platform bottom plate 102.
Mechanical six foot subassembly 2, by a foot subassembly 201, No. two foot subassemblies 202, No. three foot subassemblies 203, No. four foot subassemblies 204, No. five foot subassemblies 205, No. six foot subassemblies 205, both ends shank hydraulic component 207 and middle-end shank hydraulic component 208 constitute, a foot subassembly 201 and No. two foot subassemblies 202 install in shank mounting bracket 3 front end, No. three foot subassemblies 203 and No. four foot subassemblies 204 install in shank mounting bracket 3 middle-end, No. five foot subassemblies 205 and No. six foot subassemblies 206 install in shank mounting bracket 3 rear end.
Both ends shank hydraulic component 207, by a fixed plate 2071 that slides, a pneumatic cylinder 2072 and a hydraulic stem 2073 constitute, a hydraulic stem 2073 installs on a pneumatic cylinder 2072, a pneumatic cylinder 2072 installs on a fixed plate 2071 that slides, a fixed plate 2071 that slides installs on shank mounting bracket 3.
Middle-end shank hydraulic pressure subassembly 208, by middle-end shank hydraulic pressure installed part 2081, No. two fixed plates 2082 that slide, No. two hydraulic pressure installed part 2083, No. two pneumatic cylinders 2084 and No. two hydraulic stem 2085 are constituteed, No. two hydraulic stem 2085 is installed on No. two pneumatic cylinders 2084, No. two pneumatic cylinders 2084 are installed on No. two hydraulic pressure installed part 2083, No. two hydraulic pressure installed part 2083 is installed on No. two fixed plates 2082 that slide, No. two fixed plates 2082 that slide are installed on middle-end shank hydraulic pressure installed part 2081, middle-end shank hydraulic pressure installed part 2081 is installed on shank mounting bracket 3.
The mechanical big arm assembly 4 is composed of a mechanical arm rotating platform 401, a mechanical arm swinging platform 402, a big arm connecting piece 403, a big arm outer sleeve 404, a big arm main supporting assembly 405 and a small arm mounting piece 406, wherein the mechanical arm rotating platform 401 is installed on the crawler-type mobile platform 1, the mechanical arm swinging platform 402 is installed on the mechanical arm rotating platform 401, the big arm connecting piece 403 is installed on the mechanical arm swinging platform 402, the big arm outer sleeve 404 is installed on the big arm connecting piece 403, the big arm main supporting assembly 405 is installed in the big arm outer sleeve 404, and the small arm mounting piece 406 is installed on the big arm main supporting assembly 405.
The large arm main support assembly 405 is composed of a large arm support guide bar 4051, a large arm main support piece 4052, linear guide rails 4053 and linear motors 4054, the large arm support guide bar 4051 is mounted on the large arm outer sleeve 404, the large arm main support piece 4052 is mounted on the large arm support guide bar 4051, the four linear guide rails 4053 are distributed and mounted on the large arm main support piece 4052, and the four linear motors 4054 are mounted on the four linear guide rails 4053.
The hydraulic forearm assembly 5 is composed of a forearm main joint assembly 501, a forearm secondary joint assembly 502 and a forearm end joint assembly 503, wherein the forearm main joint assembly 501 is installed on the forearm installation part 406, the forearm secondary joint assembly 502 is installed on the forearm main joint assembly 501, and the forearm end joint assembly 503 is installed on the forearm secondary joint assembly 502.
The forearm main joint assembly 501 is composed of a main joint main base 5011, a main joint hydraulic assembly 5012, a main joint auxiliary base 5013, a joint connector 5014 and a main joint universal coupling 5015, wherein the main joint main base 5011 is installed on the forearm installation part 406 through the joint connector 5014, 3 groups of main joint hydraulic assemblies 5012 are installed between the main joint main base 5011 and the main joint auxiliary base 5013, and the main joint universal coupling 5015 is installed between the main joint main base 5011 and the main joint auxiliary base 5013.
The forearm secondary joint assembly 502 is composed of a secondary joint main base 5021, a secondary joint hydraulic assembly 5022, a secondary joint secondary base 5023 and a secondary joint universal coupling 5024, the secondary joint main base 5021 is installed on the primary joint secondary base 5013 through a joint connector 5014, the secondary joint hydraulic assembly 5022 is installed between the secondary joint main base 5021 and the secondary joint secondary base 5023, and the secondary joint universal coupling 5024 is installed between the secondary joint main base 5021 and the secondary joint secondary base 5023.
The forearm distal joint assembly 503 is composed of a distal joint main base 5031, a distal joint hydraulic assembly 5032, a distal joint sub-base 5033, a distal joint universal coupling 5034, an encoder 5035 and a terminal mounting piece 5036, wherein the distal joint main base 5031 is mounted on the distal joint sub-base 5023 through a joint connector 5014, the distal joint hydraulic assembly 5032 is mounted between the distal joint main base 5031 and the distal joint sub-base 5033, the distal joint universal coupling 5034 is mounted between the distal joint main base 5031 and the distal joint sub-base 5033, the encoder 5035 is mounted on the distal joint universal coupling 5034, and the terminal mounting piece 5036 is mounted on the distal joint sub-base 5033.
The main joint hydraulic component 5012 consists of a hydraulic component connecting piece 50121, a spherical connecting piece 50122, a connecting pin 50123, a hydraulic piece 50124 and a pulling pressure sensor 50125, wherein the spherical connecting piece 50122 is installed on the hydraulic component connecting piece 50121 through the connecting pin 50123, the hydraulic piece 50124 is installed on the spherical connecting piece 50122, and the pulling pressure sensor 50125 is installed between the spherical connecting piece 50122 and the hydraulic piece 50124.
The primary joint universal coupling 5015 is composed of a primary universal joint 50151, a universal shaft 50152, a rolling bearing 50153 and a secondary universal joint 50154, and the universal shaft 50152 is mounted on the primary universal joint 50151 and the secondary universal joint 50154 through the rolling bearing 50153.
The primary joint primary base 5011, the secondary joint primary base 5021 and the final joint primary base 5031 are the same structural member.
The primary joint secondary base 5013, the secondary joint secondary base 5023 and the final joint secondary base 5033 are the same structural component.
The main joint hydraulic component 5012, the secondary joint hydraulic component 5022 and the final joint hydraulic component 5032 are the same structural component.
The primary joint universal coupling 5015, the secondary joint universal coupling 5024 and the final joint universal coupling 5034 are the same structural component.
The curtain board terminal actuating mechanism 6 is composed of a pneumatic power part 601, a suction cup mounting part 602 and pneumatic suction cups 603, wherein the pneumatic power part 601 is mounted on the terminal mounting part 5036, the suction cup mounting part 602 is mounted on the pneumatic power part 601, and 4 pneumatic suction cups 603 are mounted on the suction cup mounting part 602.
When the mechanical six-foot component works, the mechanical six-foot component 2 is in a lifting and rotating state and is not in contact with the ground; when the empty vehicle advances, the empty vehicle moves to a working place through the crawler-type mobile platform 1; when the robot reaches a working point, the mechanical six-foot component 2 is lowered down to support the whole robot and enlarge the supporting area; during operation, in order to adjust the position of the large mechanical arm assembly 4, when the curtain plate 7 is grabbed, installed and reset, the large mechanical arm assembly 4 realizes 360-degree rotary motion through the mechanical arm rotary platform 401, the large mechanical arm assembly 4 realizes 270-degree up-and-down swinging motion through the mechanical arm swinging platform 402, and the main large arm supporting piece 4052 performs linear motion along the large arm supporting guide rod 4051 through the linear motor 4054; when the curtain board 7 is grabbed, installed and reset during operation, in order to adjust the position of the hydraulic small arm assembly 5, the main action of the hydraulic small arm assembly 5 is realized through the main joint hydraulic assembly 5012, the secondary joint hydraulic assembly 5022 and the end joint hydraulic assembly 5032, the main joint universal coupling 5015, the secondary joint universal coupling 5024 and the end joint universal coupling 5034 are matched for motion position control, and the pulling pressure in the motion process is monitored on line through the pulling pressure sensor 50125, so that more accurate action control is realized, and meanwhile, accurate positioning is realized; when the curtain plate is installed, the curtain plate terminal executing mechanism 6 controls the action of the air pressure suction disc through the air pressure power piece 601, so that the curtain plate 7 is sucked and installed.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (19)
1. The utility model provides a parallelly connected hydraulic pressure building curtain board installation robot of six sufficient crawler-types, is by crawler-type moving platform, mechanical six sufficient subassemblies, shank mounting bracket, the big arm subassembly of machinery, hydraulic pressure forearm subassembly, curtain board terminal actuating mechanism and curtain board constitution, its characterized in that: six sufficient subassemblies of machinery are installed on the shank mounting bracket, and the shank mounting bracket is installed on crawler-type moving platform, and the big arm subassembly of machinery is installed on crawler-type moving platform, and hydraulic pressure forearm subassembly is installed on the big arm subassembly of machinery, and curtain terminal actuating mechanism installs on hydraulic pressure forearm subassembly, and the curtain is adsorbed on curtain terminal actuating mechanism.
2. The six-foot crawler-type parallel hydraulic building curtain plate mounting robot as claimed in claim 1, wherein the crawler-type mobile platform is composed of a mobile crawler, a platform bottom plate and a platform support frame, and is characterized in that: two sets of moving tracks are respectively installed on two sides of the platform bottom plate, and the platform supporting frame is installed on the platform bottom plate.
3. The six-foot crawler-type parallel hydraulic building curtain plate installation robot of claim 1, wherein the mechanical six-foot component comprises a first foot component, a second foot component, a third foot component, a fourth foot component, a fifth foot component, a sixth foot component, two-end leg hydraulic components and a middle-end leg hydraulic component, and is characterized in that: a sufficient subassembly and No. two sufficient subassemblies are installed at shank mounting bracket front end, and No. three sufficient subassemblies and No. four sufficient subassemblies are installed in shank mounting bracket middle-end, and No. five sufficient subassemblies and No. six sufficient subassemblies are installed in shank mounting bracket rear end.
4. The six-foot crawler-type parallel hydraulic building curtain plate mounting robot as claimed in claim 1 or 3, wherein the first foot component is composed of a supporting shank, a leg connecting plate, a shank hydraulic component, a thigh hydraulic component and a supporting thigh, and is characterized in that: the supporting legs are installed on the leg connecting plates through leg hydraulic assemblies, the supporting thighs are connected with the leg connecting plates through thigh hydraulic assemblies, and the supporting thighs are installed on the leg installing frames.
5. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1 or 3, wherein the two-end leg hydraulic component is composed of a first sliding fixing plate, a first hydraulic cylinder and a first hydraulic rod, and is characterized in that: a hydraulic stem installs on a pneumatic cylinder, and a pneumatic cylinder is installed on the fixed plate that slides, and the fixed plate that slides is installed on the shank mounting bracket.
6. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1 or 3, wherein the middle-end leg hydraulic component is composed of a middle-end leg hydraulic installation part, a second slippage fixing plate, a second hydraulic installation part, a second hydraulic cylinder and a second hydraulic rod, and is characterized in that: no. two hydraulic stems are installed on No. two pneumatic cylinders, and No. two pneumatic cylinders are installed on No. two hydraulic pressure installed parts, and No. two hydraulic pressure installed parts are installed on No. two fixed plates that slide, and No. two fixed plates that slide are installed on middle-end shank hydraulic pressure installed part, and middle-end shank hydraulic pressure installed part is installed on the shank mounting bracket.
7. The six-foot crawler-type parallel hydraulic building curtain plate installation robot of claim 1, wherein the large mechanical arm assembly comprises a mechanical arm rotating platform, a mechanical arm swinging platform, a large arm connecting piece, a large arm outer sleeve, a large arm main supporting assembly and a small arm installation piece, and is characterized in that: the mechanical arm rotating platform is installed on the crawler-type moving platform, the mechanical arm swinging platform is installed on the mechanical arm rotating platform, the large arm connecting piece is installed on the mechanical arm swinging platform, the large arm outer sleeve is installed on the large arm connecting piece, the large arm main supporting assembly is installed in the large arm outer sleeve, and the small arm installing piece is installed on the large arm main supporting assembly.
8. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1 or 7, wherein the large arm main support assembly is composed of a large arm support guide rod, a large arm main support piece, a linear guide rail and a linear motor, and is characterized in that: the large arm support guide rod is arranged on the large arm outer sleeve, the large arm main support piece is arranged on the large arm support guide rod, the four linear guide rails are distributed and arranged on the large arm main support piece, and the four linear motors are arranged on the four linear guide rails.
9. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1, wherein the hydraulic small arm assembly is composed of a small arm main joint assembly, a small arm secondary joint assembly and a small arm tail joint assembly, and is characterized in that: the forearm main joint component is installed on the forearm installation part, the forearm secondary joint component is installed on the forearm main joint component, and the forearm tail joint component is installed on the forearm secondary joint component.
10. The six-foot crawler-type parallel hydraulic building curtain plate installation robot of claim 1 or 9, wherein the forearm main joint component comprises a main joint main base, a main joint hydraulic component, a main joint auxiliary base, a joint connecting piece and a main joint universal coupling, and is characterized in that: the main joint main base is installed on the forearm installation part through a joint connecting piece, 3 groups of main joint hydraulic assemblies are installed between the main joint main base and the main joint auxiliary base, and a main joint universal coupling is installed between the main joint main base and the main joint auxiliary base.
11. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1 or 9, wherein the forearm secondary joint component is composed of a secondary joint main base, a secondary joint hydraulic component, a secondary joint secondary base and a secondary joint universal coupling, and is characterized in that: the secondary joint main base is installed on the main joint auxiliary base through a joint connecting piece, the secondary joint hydraulic assembly is installed between the secondary joint main base and the secondary joint auxiliary base, and the secondary joint universal coupling is installed between the secondary joint main base and the secondary joint auxiliary base.
12. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1 or 9, wherein the small arm end joint assembly is composed of an end joint main base, an end joint hydraulic assembly, an end joint auxiliary base, an end joint universal coupling, an encoder and a terminal installation part, and is characterized in that: the end joint main base is installed on the secondary joint auxiliary base through the joint connecting piece, the end joint hydraulic assembly is installed between the end joint main base and the end joint auxiliary base, the end joint universal coupling is installed between the end joint main base and the end joint auxiliary base, the encoder is installed on the end joint universal coupling, and the terminal installation piece is installed on the end joint auxiliary base.
13. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1, 9 or 10, wherein the main joint hydraulic assembly is composed of a hydraulic assembly connecting piece, a spherical connecting piece, a connecting pin, a hydraulic piece and a pulling pressure sensor, and is characterized in that: the spherical connecting piece is installed on the hydraulic assembly connecting piece through the connecting pin, the hydraulic part is installed on the spherical connecting piece, and the pull pressure sensor is installed between the spherical connecting piece and the hydraulic part.
14. The six-foot crawler-type parallel hydraulic building curtain plate installation robot as claimed in claim 1, 9 or 10, wherein the main joint universal coupling is composed of a main universal joint, a universal shaft, a rolling bearing and an auxiliary universal joint, and is characterized in that: the universal shaft is arranged on the main universal joint and the auxiliary universal joint through rolling bearings.
15. A six-legged parallel hydraulic building curtain mounting robot as claimed in claim 1 or 9 or 10 or 11 or 12, wherein: the main joint main base, the secondary joint main base and the tail joint main base are the same structural part.
16. A six-legged parallel hydraulic building curtain mounting robot as claimed in claim 1 or 9 or 10 or 11 or 12, wherein: the main joint pair base, the secondary joint pair base and the tail joint pair base are the same structural member.
17. A six-legged parallel hydraulic building curtain mounting robot as claimed in claim 1 or 9 or 10 or 11 or 12, wherein: the main joint hydraulic assembly, the secondary joint hydraulic assembly and the final joint hydraulic assembly are the same structural part.
18. A six-legged parallel hydraulic building curtain mounting robot as claimed in claim 1 or 9 or 10 or 11 or 12, wherein: the main joint universal coupling, the secondary joint universal coupling and the final joint universal coupling are the same structural member.
19. The six-foot crawler-type parallel hydraulic building curtain plate installation robot of claim 1, wherein the curtain plate terminal execution mechanism is composed of a pneumatic power part, a suction cup installation part and a pneumatic suction cup, and is characterized in that: pneumatic power spare is installed on the terminal installed part, and the sucking disc installed part is installed on pneumatic power spare, and 4 pneumatic suction cups are installed on the sucking disc installed part.
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| CN202011489345.XA CN112606919A (en) | 2020-12-16 | 2020-12-16 | Six-foot crawler type parallel hydraulic building curtain plate installation robot |
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| CN202011489345.XA CN112606919A (en) | 2020-12-16 | 2020-12-16 | Six-foot crawler type parallel hydraulic building curtain plate installation robot |
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Application publication date: 20210406 |